Surgical robot and method of manipulating positioner

ABSTRACT

A surgical robot includes: a plurality of manipulator arms; a platform to which the plurality of manipulator arms are coupled; a positioner configured to change the position and posture of the platform; a controller configured to control the positioner; and a user interface. The user interface includes: first manipulation tools each configured to receive an input of manipulation which selects one of a plurality of operating modes for changing the position and posture of the platform; and a single second manipulation tool configured to receive an input of manipulation information regarding the position and posture. The controller generates a command regarding the position and posture of the platform based on the acquired manipulation information and the selected operating mode and operates the positioner based on the generated command.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation application of U.S. application Ser.No. 17/103,738, filed on Nov. 24, 2020, which is based upon and claimsthe benefit of priority from the prior Japanese Patent Application No.2019-212332, filed on Nov. 25, 2019, the entire contents of all of whichare incorporated herein by reference.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to a surgical robot, and more particularlyto a user interface which receives an input of manipulation regarding apositioner supporting a manipulator.

2. Description of the Related Art

A robot surgery system which performs minimally invasive surgery hasbeen known. Published Japanese Translation of PCT Application No.2017-515522 (hereinafter referred to as “Patent Literature 1 (PTL 1)”)discloses this type of robot surgery system.

The robot surgery system of PTL 1 includes a surgeon console and asurgical robot (remote manipulation assembly) remotely manipulated bythe surgeon console. The surgical robot includes: a base; an extensiblecolumn supported by the base; an extensible boom which extendshorizontally from the column; a platform supported by a tip end of theboom; a plurality of manipulator arms attached to the platform; andsurgical instruments attached to tip ends of the manipulator arms.

In the surgical robot of PTL 1, the plurality of manipulator arms areattached to the single platform. When the position and posture of theplatform change, the positions and postures of proximal end portions ofthe plurality of manipulator arms change. A touchpad as a user interfaceis provided at the column of the surgical robot. Commands related to theoperations of the column, the boom, and the manipulator arms may beinput to the touchpad.

A manipulation input method of the touchpad as in PTL 1 is disclosed inNon Patent Literature 1 (Intuitive Surgical, Inc., “Drive andPosition—P5_OR_PC_Helm Interactions—Xi Video Training—US”, “Demonstrateshow to drive the Patient Cart and work with OR Staff patient side toposition the Patient Cart for docking.”, [online], 2016, [searched onJun. 6, 2019], Internet <URL:“https://us.davincisurgerycommunity.com/detail/videos/p5_or_pc_helm-interactions/video/5211406414001/drive-and-position?autoStart=true&=&index=0”>),Non Patent Literature 2 (Intuitive Surgical, Inc., “Drive andPosition—P5_OR_PC_Helm Interactions—Xi Video Training—US”, “Demonstrateshow to Sterile Stow the Patient Cart Arms.”, [online], 2016, [searchedon Jun. 6, 2019], Internet <URL:“https://us.davincisurgerycommunity.com/detail/videos/p5_or_pc_helm-interactions/video/5211440511001/sterile-stow-button?autoStart=true&=&index=1”>),Non Patent Literature 3 (Intuitive Surgical, Inc., “Drive andPosition—P5_OR_PC_Helm Interactions—Xi Video Training—US”, “Demonstrateshow to adjust the Patient Cart boom via the Patient Cart touchpad andthe boom position and boom height joysticks.”, [online], 2016, [searchedon Jun. 6, 2019], Internet <URL:“https://us.davincisurgerycommunity.com/detail/videos/p5_or_pc_helm-interactions/video/5210213315001/adjust-boom-via-touchpad?autoStart=true&=&index=0”>),and Non Patent Literature 4 (Intuitive Surgical, Inc., “Drive andPosition—P5_OR_PC_Helm Interactions—Xi Video Training—US”, “Demonstrateshow to stow and shut down the da Vinci Xi System.”, [online], 2016,[searched on Jun. 6, 2019], Internet <URL:“https://us.davincisurgerycommunity.com/detail/videos/p5_or_pc_helm-interactions/video/5211443798001/stow-hutdown?autoStart=true&=&index=3”>).The touchpad includes a touch panel-type display, a power supply button,an emergency button, a joystick, and a lifting/lowering lever. Thedisplay displays a Deploy button, a Stow button, and an Enable Joystickbutton. While a user is pressing the Deploy button, the platformadvances toward a surgical table on which a patient lies, and theplurality of manipulator arms are changed from a folded state to adeployed state. While the user is pressing the Stow button, the platformretreats from the surgical table, and the plurality of manipulator armsare changed from the deployed state to the folded state. When the userrotates or tilts the joystick with one hand while pressing the EnableJoystick button with the other hand, the platform turns or moves in ahorizontal direction. When the user tilts the lever with one hand whilepressing the Enable Joystick button with the other hand, the columnextends or contracts to lift or lower the platform. The display displaysa model of the patient and a surgery site. The user manipulates thejoystick and/or the lever to move the manipulator arms to a dockingposition while being guided by an assistant who is close to the surgicaltable and the plurality of manipulator arms.

SUMMARY OF THE INVENTION

Each of the touchpads described in Non Patent Literatures 1 to 4includes a manipulation tool which receives an input of manipulationregarding height movement of the platform and a manipulation tool whichreceives an input of manipulation regarding horizontal movement of theplatform. Therefore, the manipulation may become complex.

The present invention was made under these circumstances, and an objectof the present invention is to provide a user interface which is mountedon a surgical robot and facilitates manipulation of a user.

A surgical robot according to one aspect of the present inventionincludes: a plurality of manipulator arms including respective distalend portions to which surgical instruments are attached; a platform towhich proximal end portions of the plurality of manipulator arms arecoupled; a positioner including a plurality of links and joint drivingdevices, the plurality of links being provided in series through joints,the joint driving devices being provided at the respective joints, thepositioner supporting the platform and being configured to change aposition and posture of the platform; a controller configured to operatethe positioner such that the position and posture of the platformcorrespond to a commanded position and posture; and a user interfaceconfigured to receive an input of manipulation regarding the positioner.The user interface includes first manipulation tools each configured toreceive an input of manipulation which selects one of a plurality ofoperating modes for changing the position and posture of the platformand a single second manipulation tool configured to receive an input ofmanipulation information regarding the position and posture. Thecontroller generates a command regarding the position and posture of theplatform based on the manipulation information received by the secondmanipulation tool and the selected operating mode and operates thepositioner based on the generated command.

Moreover, a method of manipulating a positioner according to one aspectof the present invention is a method of manipulating a positioner in asurgical robot, the surgical robot including: a plurality of manipulatorarms including respective distal end portions to which surgicalinstruments are attached; a platform to which proximal end portions ofthe plurality of manipulator arms are coupled; a positioner including aplurality of links and joint driving devices, the plurality of linksbeing provided in series through joints, the joint driving devices beingprovided at the respective joints, the positioner supporting theplatform and being configured to change a position and posture of theplatform; and a controller configured to operate the positioner suchthat the position and posture of the platform correspond to a commandedposition and posture, the method including: acquiring a selected one ofa plurality of operating modes which are input from first manipulationtools to change the position and posture of the platform; acquiringmanipulation information regarding the position and posture of theplatform, the manipulation information being input from a secondmanipulation tool; generating a command regarding the position andposture of the platform based on the acquired manipulation informationand the selected operating mode; and operating the positioner based onthe generated command.

According to the surgical robot and the method of manipulating thepositioner, the manipulation information regarding the position andposture is input by the single second manipulation tool regardless ofthe operating mode. To be specific, a manipulation tool for the heightmovement of the platform and a manipulation tool for the horizontalmovement of the platform are not being used. Therefore, the number ofmanipulation tools provided at the user interface can be reduced.Moreover, wrong manipulation, such as confusion of the manipulationtools, can be prevented, and the manipulation can be simplified. Asabove, according to the present invention, the manipulation of the usercan be made easier as a whole than when the conventional user interfaceis used.

The present invention can provide the user interface which is mounted onthe surgical robot and is easily manipulated by the user.

The above object, other objects, features, and advantages of the presentinvention will be made clear by the following detailed explanation ofthe preferred embodiment with reference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram showing an entire configuration of a surgery systemincluding a surgical robot according to one embodiment of the presentinvention.

FIG. 2 is a side view of the surgical robot.

FIG. 3 is a diagram showing the configuration of a control system of thesurgical robot.

FIG. 4 is a perspective view of a manipulation input device.

FIG. 5 is a diagram showing the configuration of a control system of themanipulation input device.

FIG. 6 is a flow chart showing a method of manipulating a positioner byusing the manipulation input device.

FIG. 7 is a diagram showing one example of a manipulation screen imagein which a height movement mode is being selected.

FIG. 8 is a diagram showing one example of the manipulation screen imagein which a horizontal movement mode is being selected.

FIG. 9 is a diagram showing one example of the manipulation screen imagein which a horizontal rotation mode is being selected.

FIG. 10 is a diagram showing one example of the manipulation screenimage in which a left-right tilting rotation mode is being selected.

FIG. 11 is a diagram showing one example of the manipulation screenimage in which a front-rear tilting rotation mode is being selected.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, one embodiment of the present invention will be describedwith reference to the drawings. FIG. 1 is a diagram showing an entireconfiguration of a surgery system 100 including a surgical robot 1according to one embodiment of the present invention. The surgery system100 shown in FIG. 1 is utilized in an endoscopic surgery in which thesurgical robot 1 remotely manipulated by a surgeon 203 performs surgeryof a patient 201.

The surgery system 100 includes the surgical robot 1 as a patient-sidesystem and a console 2 as a surgeon-side system. The console 2 isarranged away from the surgical robot 1, and the surgical robot 1 isremotely manipulated by the console 2 during the surgery. The surgeon203 inputs to the console 2 an operation command regarding an operationto be performed by the surgical robot 1, and the console 2 transmits theinput operation command to the surgical robot 1. The surgical robot 1acquires the operation command and operates a long shaft-shaped surgicalinstrument 4 and the like, included in the surgical robot 1, based onthe operation command. The surgical instrument 4 may be a surgical tool,such as an endoscope assembly or a forceps.

Console 2

The console 2 is an apparatus which constitutes an interface between thesurgery system 100 and the surgeon 203 and is used to manipulate thesurgical robot 1. The console 2 is provided inside or outside a surgeryroom. The console 2 includes a manipulation input portion, a monitor 54,and a control portion 55. The surgeon 203 inputs the operation commandto the manipulation input portion. Examples of the manipulation inputportion include a surgeon-side manipulator arm 51 and a manipulatingpedal 52. The monitor 54 displays an image taken by the endoscopeassembly that is one of the surgical instruments 4. While visuallyconfirming an affected part (surgery site) on the monitor 54, thesurgeon 203 inputs the manipulation to the manipulation input portion.The control portion 55 acquires the input of the manipulation receivedby the manipulation input portion, generates the operation command, andtransmits the operation command to a below-described robot controller600 of the surgical robot 1 through wired or wireless communication.

Surgical Robot 1

The surgical robot 1 constitutes an interface between the surgery system100 and the patient 201. In the surgery room, the surgical robot 1 isarranged close to a surgical table 202 on which the patient 201 lies. Aninside of the surgery room is a sterile field.

FIG. 2 is a side view of the surgical robot 1. The surgical robot 1shown in FIGS. 1 and 2 include: a cart 70; a positioner 7 supported bythe cart 70; a platform 5 attached to a distal end portion of thepositioner 7; a plurality of patient-side manipulator arms (hereinaftersimply referred to as “arms 3”) detachably attached to the platform 5;the surgical instruments 4 attached to distal end portions of the arms3; and the robot controller 600. The positioner 7 and the platform 5 arecovered with a sterile drape (not shown) during the surgery. In thesurgical robot 1, components from the cart 70 to the surgical instrument4 are coupled to each other in series. In the present specification,regarding each of these components, an end portion located close to thecart 70 is referred to as a “proximal end portion,” and an opposite endportion is referred to as a “distal end portion.”

Cart 70

The cart 70 includes a cart main body 71, a front wheel 72, a rear wheel73, and a handle 74. A user 0 (the surgeon 203 or a surgery assistant)holds the handle 74 and steers the cart 70. A manipulation input device48 as a user interface is provided above the handle 74. In the presentembodiment, the manipulation input device 48 is provided at the cart 70such that the user 0 in the surgery room can visually confirm andmanipulate the manipulation input device 48. However, the manipulationinput device 48 may be provided at a different place of the surgicalrobot 1. The manipulation input device 48 may be configured to displayinformation data regarding a state of the surgical robot 1, informationregarding a specific surgery, and information regarding the entiresurgery system 100. The manipulation input device 48 may be configuredas an input device which receives the input of the manipulationregarding the surgical robot 1. The manipulation input device 48 will bedescribed later in detail.

Positioner 7

The positioner 7 according to the present embodiment is configured as aseven-axis vertical articulated robot arm. The positioner 7three-dimensionally moves the position of the platform 5 relative to thecart 70. However, the configuration of the positioner 7 is not limitedto the present embodiment. Examples of the positioner 7 include amulti-axis (other than seven-axis) vertical articulated robot arm and amulti-axis horizontal articulated robot arm.

The positioner 7 includes: a base 90 fixed to the cart 70; and aplurality of positioner links 91 to 96 serially connected to each otherfrom the base 90. The plurality of positioner links 91 to 96 are: afirst link 91 coupled to the base 90 through a first joint J71 so as tobe turnable; a second link 92 coupled to the first link 91 through asecond joint J72 so as to be swingable; a third link 93 coupled to thesecond link 92 through a third joint J73 so as to be swingable; a fourthlink 94 coupled to the third link 93 through a fourth joint J74 so as tobe turnable; a fifth link 95 coupled to the fourth link 94 through afifth joint J75 so as to be swingable; and a sixth link 96 coupled tothe fifth link 95 through a sixth joint J76 so as to be turnable. Amechanical interface 97 is coupled to the sixth link 96 through aseventh joint J77 so as to be turnable. The platform 5 is coupled to themechanical interface 97.

Joint driving devices D71 to D77 which operate the respective joints J71to J77 of the positioner 7 are provided at the respective joints J71 toJ77. As shown in FIG. 3 , each of the joint driving devices D71 to D77includes: a servomotor (M71 to M77); an encoder (E71 to E77) whichdetects a rotation angle of the servomotor (M71 to M77); a reducer (R71to R77) which amplifies output torque of the servomotor (M71 to M77);and a power transmission mechanism (not shown) which transmits theoutput of the servomotor (M71 to M77) to the positioner link. The powertransmission mechanism may be constituted by a plurality of gears, apower transmission belt, or a combination of those.

Platform 5

As shown in FIGS. 1 and 2 , the platform 5 serves as a hub for theplurality of arms 3. Since the plurality of arms 3 are attached to theplatform 5, the platform 5 is also called an arm base. In the presentembodiment, the combination of the cart 70, the positioner 7, and theplatform 5 constitutes a manipulator arm support body S supporting theplurality of arms 3 such that the arms 3 are movable.

The platform 5 includes: a main body 50; a positioner coupling portion50 a provided at a proximal end portion of the main body 50; and aplurality of arm coupling portions 50 b provided at a distal end portionof the main body 50. The positioner coupling portion 50 a is coupled tothe mechanical interface 97 of the positioner 7. The main body 50 has alongitudinal direction and is formed in an arch shape whose extendingdirection corresponds to the longitudinal direction. The plurality ofarm coupling portions 50 b are arranged at the main body 50 so as to bedistributed in the longitudinal direction of the main body 50. In thepresent embodiment, four arm coupling portions 50 b are provided. Theproximal end portions of the arms 3 are detachably coupled to therespective arm coupling portions 50 b.

Patient-Side Manipulator Arm 3

The plurality of arms 3 are practically the same in structure as eachother. As shown in FIG. 2 , each of the arms 3 includes an arm main body30 and a translational unit 35 coupled to a distal end portion of thearm main body 30. Each arm 3 is configured such that the distal endportion can three-dimensionally move relative to the proximal endportion. A holder 36 to which the surgical instrument 4 is attached isprovided at the distal end portion of each arm 3. In the presentembodiment, the holder 36 is provided at the translational unit 35. Theendoscope assembly is coupled to one of the plurality of arms 3.Moreover, the surgical tool is coupled to at least one of the pluralityof arms 3. The surgical tool is selected from the group consisting oftools (for example, a pair of forceps, a pair of scissors, a grasper, aneedle holder, a microdissector, a staple applier, a tucker, a suctioncleaning tool, a snare wire, and a clip applier) each having a joint andtools (for example, a cutting blade, a cautery probe, a washer, acatheter, and a suction orifice) each not having a joint.

The arm main body 30 includes: a base 80 detachably attached to theplatform 5; and a plurality of arm links 81 to 86 coupled to each otherin series from the base 80 toward the distal end portion. The pluralityof arm links 81 to 86 are: a first link 81 coupled to the base 80through a first joint J31 so as to be turnable; a second link 82 coupledto the first link 81 through a second joint J32 so as to be swingable; athird link 83 coupled to the second link 82 through a third joint J33 soas to be turnable; a fourth link 84 coupled to the third link 83 througha fourth joint J34 so as to be swingable; a fifth link 85 coupled to thefourth link 84 through a fifth joint J35 so as to be turnable; and asixth link 86 coupled to the fifth link 85 through a sixth joint J36 soas to be swingable. The translational unit 35 is coupled to the sixthlink 86 through a seventh joint J37 so as to be swingable.

Joint driving devices D31 to D37 which operate the respective joints J31to J37 of the arm main body 30 are provided at the respective joints J31to J37. As shown in FIG. 3 , each of the joint driving devices D31 toD37 includes: a servomotor (M31 to M37); an encoder (E31 to E37) whichdetects the rotation angle of the servomotor (M31 to M37); a reducer(R31 to R37) which amplifies the output torque of the servomotor (M31 toM37); and a power transmission mechanism (not shown) which transmits theoutput of the servomotor (M31 to M37) to the positioner link. The powertransmission mechanism may be constituted by a plurality of gears, apower transmission wire, or a combination of those.

Referring back to FIG. 2 , the translational unit 35 includes: a firsttranslational link 61 coupled to the sixth link 86; a secondtranslational link 62 which performs a translational movement relativeto the first translational link 61; and the holder 36 provided at thesecond translational link 62. The second translational link 62 slides onthe first translational link 61 in a longitudinal direction of the firsttranslational link 61. With this, the surgical instrument 4 coupled tothe holder 36 can be made to move in parallel with the longitudinaldirection of the first translational link 61.

Moreover, the translational unit 35 is provided with: a servomotor M38for the translational movement; a servomotor M39 for a rotationalmovement of the holder 36 about a rotation axis 64; encoders E38 and E39which detect the rotation angles of the servomotors M38 and M39; andreducers R38 and R39 which decelerate the outputs of the servomotors M38and M39 to increase the torque (see FIG. 3 ).

Robot Controller 600

The operation of the surgical robot 1 is controlled by the robotcontroller 600. The robot controller 600 is constituted by a computer, aservo controller, and the like. In the present embodiment, the robotcontroller 600 is provided inside the cart 70.

As shown in FIG. 3 , the robot controller 600 includes: an arm controlportion 601 which controls the operations of the plurality of arms 3;and a positioner control portion 603 which controls the operation of thepositioner 7. Servo controllers C31 to C39 are electrically connected tothe arm control portion 601, and the servomotors M31 to M39 areelectrically connected to the respective servo controllers C31 to C39through an amplifying circuit (not shown) and the like. Similarly, servocontrollers C71 to C77 are electrically connected to the positionercontrol portion 603, and the servomotors M71 to M77 are electricallyconnected to the respective servo controllers C71 to C77 through anamplifying circuit (not shown) and the like.

The robot controller 600 includes a memory device 602. The memory device602 stores information necessary for the robot-assisted surgery andpreparation for the robot-assisted surgery. Examples of such informationnecessary for the robot-assisted surgery and the preparation for therobot-assisted surgery include information regarding the surgicalinstrument 4, information regarding the surgical robot 1, informationregarding the surgical table 202, information regarding the console 2,and information regarding the content of the surgery. The informationstored in the memory device 602 may contain a predetermined preparationposition (i.e., the positions and postures of the platform 5 and theplurality of arms 3 at the time of presetting). A plurality ofpreparation positions may be set in accordance with the content (type)of the surgery, the surgery site, and the like. Moreover, theinformation stored in the memory device 602 may contain a predeterminedstorage position (i.e., the positions and postures of the platform 5 andthe plurality of arms 3 at the time of storage). When the platform 5 andthe plurality of arms 3 are located at the predetermined storageposition, the positioner 7 and the plurality of arms 3 become the foldedstate such that when the cart 70 moves, the plurality of arms 3 and thelike are prevented from contacting the wall of the surgery room, othersurgical apparatuses, and the like. It should be noted that each of thepreparation position and the storage position may be a position on robotcoordinates (for example, a position based on the cart 70).

According to the above configuration, the arm control portion 601acquires the input of the manipulation received by the console 2 or themanipulation input device 48. The arm control portion 601 generates aposition command value based on the input manipulation and the rotationangles detected by the encoders E31 to E39. Each of the servocontrollers C31 to C39 which have acquired the position command valuegenerates a drive command value (torque command value) based on therotation angle detected by the corresponding encoder (E31 to E39) andthe position command value. The amplifying circuit which has acquiredthe drive command value supplies a driving current corresponding to thedrive command value to the corresponding servomotor (M31 to M39). Thus,the joints J31 to J39 of each arm 3 operate, and a reference point (forexample, the distal end portion of the arm 3) of the arm 3 performsmovement corresponding to the input manipulation.

The positioner control portion 603 acquires the input of themanipulation received by the console 2 or the manipulation input device48. The positioner control portion 603 generates the position commandvalue based on the input manipulation and the rotation angles detectedby the encoders E71 to E77. Each of the servo controllers C71 to C77which have acquired the position command value generates the drivecommand value (torque command value) based on the rotation angledetected by the corresponding encoder (E71 to E77) and the positioncommand value. The amplifying circuit which has acquired the drivecommand value supplies the driving current corresponding to the drivecommand value to the corresponding servomotor (M71 to M77). Thus, thejoints J71 to J77 of the positioner 7 operate, and a reference point(for example, the mechanical interface 97 or the platform 5 coupled tothe mechanical interface 97) of the positioner 7 performs movementcorresponding to the input manipulation.

Regarding further detailed explanations of the surgical robot 1, theentire disclosures of Japanese Patent Application Nos. 2018-243422,2018-243425, 2018-243445, 2018-243446, and 2018-243454 are incorporatedherein by reference.

Method of Presetting Surgical Robot 1

The presetting of the surgical robot 1 is performed before starting thesurgery performed by using the surgical robot 1. In the presetting, theholder 36 to which the surgical instrument 4 is attached is moved to adocking position suitable for the surgical instrument 4 inserted into asleeve placed on a body surface of the patient 201.

First, when the user 0 drives the cart 70, the surgical robot 1 is movedclose to the surgical table 202. At this time, the platform 5 and theplurality of arms 3 are located at the storage position.

After the cart 70 stops, the user 0 performs a selection input of thepreparation position corresponding to the content of the surgery of thepatient 201 by using the manipulation input device 48. In response tothis, the robot controller 600 reads the corresponding informationregarding the preparation position from the memory device 602 andoperates the positioner 7 and the arms 3, and with this, moves theplatform 5 and the plurality of arms 3 to the preparation position.

Next, the user 0 individually moves the platform 5 and the plurality ofarms 3 from the preparation position by using the manipulation inputdevice 48. Moreover, the user 0 may directly apply external force to thearms 3 to individually move the platform 5 and the plurality of arms 3from the preparation position. As above, the holder 36 of each arm 3 ismoved to the docking position by individually adjusting the positions ofthe platform 5 and the plurality of arms 3. Then, the surgicalinstrument 4 is coupled by the user 0 to the holder 36 located at thedocking position.

During the presetting of the surgical robot 1, the robot controller 600is set so as not to receive the manipulation of the console 2. After thepresetting of the surgical robot 1 is terminated, the robot controller600 can receive the manipulation of the console 2. In principle, duringthe surgery, with the positioner 7 in a stop state, the surgical robot 1operates each arm 3 in accordance with the operation command from theconsole 2 to suitably change the position and posture of the surgicalinstrument 4.

Manipulation Input Device 48

The manipulation input device 48 (corresponding to a user interface inthe claims) will be described in detail. FIG. 4 is a perspective view ofthe manipulation input device 48, and FIG. 5 is a diagram showing theconfiguration of a control system of the manipulation input device 48.As shown in FIGS. 4 and 5 , the manipulation input device 48 includes atouch panel display 41, an emergency stop switch 42, a power supplyswitch 43, a trigger switch 44 (corresponding to a third manipulationtool in the claims), a single joystick 45 (corresponding to a secondmanipulation tool in the claims), and a control portion 46.

The control portion 46 includes a calculation control unit 460 and amemory device 462. The calculation control unit 460 includes a processor461, a memory 463 (such as a ROM and a RAM), and an I/O section 464. Thememory device 462 is connected to the calculation control unit 460through an interface 465. The display 41 is connected to the calculationcontrol unit 460 through the interface 465. The calculation control unit460, the emergency stop switch 42, the trigger switch 44 arecommunicable with the robot controller 600 through wireless or wiredcommunication.

The calculation control unit 460 may include the single processor 461which performs centralized control or a plurality of processors 461which perform distributed control. For example, the calculation controlunit 460 may be constituted by at least one of or a combination of twoor more of a computer, a personal computer, a microcontroller, amicroprocessor, a programmable logic device (PLD; such as afield-programmable gate array (FPGA)), a programmable logic controller(PLC), and a logic circuit. The memory 463 and the memory device 462store basic programs, software programs, and the like executed by theprocessor 461. When the processor 461 reads and executes the softwareprogram, the calculation control unit 460 realizes a functioncorresponding to the software program.

The display 41 according to the present embodiment is a touch paneldisplay and includes a panel-shaped display unit and a contact-typeinput unit. The display 41 displays an image output from the controlportion 46. When the user 0 contacts (presses) a mark, such as a button,displayed on the display 41, the display 41 receives the input of themanipulation corresponding to the mark. The input of the manipulationreceived by the display 41 is transmitted to the control portion 46.

A normally closed contact point is adopted as a contact point of theemergency stop switch 42. When the emergency stop switch 42 is not beingpressed, the contact point is in a closed state, and a currentindicating a safe state flows. When the emergency stop switch 42 iscontinuously pressed for a predetermined period of time (for example,several seconds), the contact point opens, and the current is blocked.When the emergency stop switch 42 is pressed while the surgical robot 1is being used, an emergency stop command is transmitted to the robotcontroller 600. The robot controller 600 acquires the emergency stopcommand and stops the operation of the surgical robot 1.

The power supply switch 43 is turned on or off by being continuouslypressed for a predetermined period of time (for example, severalseconds). When the power supply switch 43 is turned on, the manipulationinput device 48 is supplied with electric power to start up. Moreover,when the power supply switch 43 is turned off, the supply of theelectric power to the manipulation input device 48 stops, and this stopsthe manipulation input device 48.

The trigger switch 44 is a so-called dead man switch. The trigger switch44 is turned on only while the user 0 is pressing the trigger switch 44.The trigger switch 44 is turned off when the pressing force iseliminated. The manipulation of the joystick 45 is effective only whilethe trigger switch 44 is in an on state. The manipulation of thejoystick 45 is ineffective while the trigger switch 44 is in an offstate. The robot controller 600 detects whether the trigger switch 44 isin the on state or the off state. It should be noted that the triggerswitch 44 may be a three-position enable switch.

The joystick 45 is a manipulation tool which receives the input ofmanipulation information regarding a manipulation amount and a movementdirection. In the present embodiment, the joystick 45 has a knob shapeor lever shape which can tilt forward, rearward, leftward, and rightwardand rotate forward and backward. A tilt direction of the joystick 45corresponds to the input movement direction. A rotation direction of thejoystick 45 corresponds to the input rotation direction. A tilt time androtation time of the joystick 45 from a zero position (referenceposition) correspond to the manipulation amount. The input of themanipulation received by the joystick 45 is transmitted to the robotcontroller 600. The robot controller 600 receives the input from thejoystick 45 only while the trigger switch 44 is in the on state.

As described above, various input units provided at the manipulationinput device 48 acquire the input of the received manipulation andtransmits information corresponding to the input manipulation to therobot controller 600. The information corresponding to the inputmanipulation may be a command generated based on the input manipulationor may be a signal corresponding to the input manipulation. The robotcontroller 600 operates the surgical robot 1 based on the informationacquired from the manipulation input device 48.

Method of Manipulating Positioner 7

A method of manipulating the positioner 7 by using the manipulationinput device 48 configured as above will be described. The followingwill describe a case where in the above-described presetting, theposition and posture of the platform 5 are adjusted by manipulating thepositioner 7 by using the manipulation input device 48. It should benoted that the manipulation of the positioner 7 by using themanipulation input device 48 can be performed at a time other than thepresetting.

FIG. 6 is a flow chart showing a process performed by the manipulationinput device 48 which realizes a method of manipulating the positioner 7according to the present embodiment. When moving the platform 5 bymanipulating the positioner 7, the control portion 46 displaysmanipulation selection buttons 409 (see FIG. 7 ) on the display 41. Inthe present embodiment, the manipulation selection buttons 409 include apositioner manipulation button, a posture control button, and a mainbody manipulation button. The manipulation selection buttons 409 may bedisplayed together with information, such as a next manipulation message415 prompting next manipulation. When the user 0 contacts the positionermanipulation button among the manipulation selection buttons 409, thedisplay 41 receives the input of the selection of the positionermanipulation and transmits the input to the control portion 46.

The control portion 46 which has acquired the selection of thepositioner manipulation displays mode selection buttons 401 to 405(corresponding to a first manipulation tool in the claims) on thedisplay 41. The mode selection buttons 401 to 405 may be displayedtogether with information, such as a guide of the next manipulation.

In the present embodiment, five modes that are a height movement mode, ahorizontal movement mode, a horizontal rotation mode, a left-righttilting rotation mode, and a front-rear tilting rotation mode are set asan operating mode of the platform 5. The height movement mode is anoperating system of the positioner 7 which lifts or lowers the platform5. The horizontal movement mode is an operating system of the positioner7 which moves the platform 5 within a horizontal plane. The horizontalrotation mode is an operating system of the positioner 7 which rotatesthe platform 5 about a vertical rotation axis. The left-right tiltingrotation mode is an operating system of the positioner 7 which swingsthe platform 5 about a horizontal rotation axis perpendicular to thelongitudinal direction of the main body 50. The front-rear tiltingrotation mode is an operating system of the positioner 7 which swingsthe platform 5 about a horizontal rotation axis parallel to thelongitudinal direction of the main body 50.

As shown in FIG. 6 , when the user 0 contacts any one of the modeselection buttons 401 to 405, the display 41 receives the input of theselection of the operating mode and transmits the input to the controlportion 46. The control portion 46 which has acquired the selection ofthe operating mode (Step S01) displays on the display 41 a manipulationscreen image 400 corresponding to the selected operating mode anddisplayed at the time of the presetting (Step S02).

FIG. 7 shows one example of the manipulation screen image 400 in whichthe height movement mode is being selected. The manipulation selectionbuttons 409 are displayed at a lower portion of the manipulation screenimage 400 shown in FIG. 7 . In this case, since the platform 5 is movedby manipulating the positioner 7, the positioner manipulation button isbeing selected among the manipulation selection buttons 409 that are thepositioner manipulation button, the posture control button, and the mainbody manipulation button.

The mode selection buttons 401 to 405 related to the movement of theplatform 5 are displayed at a left side portion of the manipulationscreen image 400. In the present embodiment, the mode selection buttons401 to 405 corresponding to the five operating modes are provided. Itshould be noted that the button of the operating mode which is beingselected is displayed on the screen image in a different way (forexample, a different color) from the button of the operating mode whichis not being selected.

A front view of a model 410 of the surgical robot 1 when viewed from theuser 0 who is manipulating the manipulation input device 48 is displayedat a middle of the manipulation screen image 400 in which the heightmovement mode is being selected, and a first mark 411 indicating themovement direction of the platform 5 is displayed so as to overlap themodel 410. As the model 410, at least the platform 5 and the positioner7 are only required to be displayed. As the positioner 7, a part towhich the platform 5 is coupled may be shown.

The next manipulation message 415 which prompts the next manipulation(in this case, the manipulation of the joystick 45) is displayed underthe model 410 in the manipulation screen image 400. In addition, a model412 of the joystick 45 and a second mark 413 are displayed at a rightside portion of the manipulation screen image 400. The second mark 413indicates a manipulation direction of the joystick 45 corresponding tothe operating mode which is being selected. In the present embodiment,the first mark 411 and the second mark 413 are arrows. However, thesemarks are not limited to the arrows. It is desirable that the first mark411 and the second mark 413 be displayed by the same type of images orimages related to each other such that the correspondence between thefirst mark 411 and the second mark 413 becomes clear.

Next, the user 0 presses the trigger switch 44 in order to activate themanipulation of the joystick 45. The robot controller 600 is in astand-by state until the robot controller 600 detects the on state ofthe trigger switch 44 (NO in Step S03), and therefore, the robotcontroller 600 does not receive the input of the manipulation from thejoystick 45. When the robot controller 600 detects the on state of thetrigger switch 44 (YES in Step S03), the robot controller 600 is set toreceive the input of the manipulation from the joystick 45. Then, whilepressing the trigger switch 44, the user 0 moves the joystick 45 in adirection corresponding to the second mark 413. Only while the on stateof the trigger switch 44 is being detected, the robot controller 600receives the input of the manipulation from the joystick 45 (Step S04).In accordance with the acquired input of the manipulation, the controlportion 46 may change the position and posture of the model 410 in themanipulation screen image 400. Based on the acquired input of themanipulation and the operating mode which is being selected, the robotcontroller 600 generates a command regarding the position and posture ofthe platform 5 or the operation of the positioner 7 (Step S05). Therobot controller 600 operates the joints J71 to J77 of the positioner 7in accordance with the command (Step S06) to move the platform 5.

FIG. 8 is a diagram showing one example of the manipulation screen image400 in which the horizontal movement mode is being selected. A plan viewof the model 410 of the surgical robot 1 is displayed in themanipulation screen image 400 in which the horizontal movement mode isbeing selected. Moreover, the first mark 411 having a cross shape isdisplayed as the movement direction of the platform 5 so as to overlapthe model 410, and the second mark 413 having a cross shape is displayedas the movement direction of the joystick 45 at a right side of themodel 410. The mode selection buttons 401 to 405, the manipulationselection buttons 409, the model 412, and the next manipulation message415 are common among the screen images of the respective operatingmodes.

FIG. 9 is a diagram showing one example of the manipulation screen image400 in which the horizontal rotation mode is being selected. A plan viewof the model 410 of the surgical robot 1 is displayed in themanipulation screen image 400 in which the horizontal rotation mode isbeing selected. Moreover, the first mark 411 having a semicircular-arcshape (or a partial circular-arc shape) is displayed as the movementdirection of the platform 5 so as to overlap the model 410, and thesecond mark 413 having a semicircular-arc shape (or a partialcircular-arc shape) is displayed as the movement direction of thejoystick 45 at a right side of the model 410.

FIG. 10 is a diagram showing one example of the manipulation screenimage 400 in which the left-right tilting rotation mode is beingselected. A front view of the model 410 of the surgical robot 1 whenviewed from the user 0 who is manipulating the manipulation input device48 is displayed at a middle of the manipulation screen image 400 inwhich the left-right tilting rotation mode is being selected. Moreover,the first mark 411 having a semicircular-arc shape (or a partialcircular-arc shape) is displayed as the movement direction of theplatform 5 so as to overlap the model 410, and the second mark 413extending in a left-right direction in the screen image is displayed asthe movement direction of the joystick 45 at a right side of the model410.

FIG. 11 is a diagram showing one example of the manipulation screenimage 400 in which the front-rear tilting rotation mode is beingselected. A front view of the model 410 of the surgical robot 1 whenviewed from the user 0 who is manipulating the manipulation input device48 is displayed at a middle of the manipulation screen image 400 inwhich the front-rear tilting rotation mode is being selected. Moreover,the first mark 411 having a semicircular-arc shape (or a partialcircular-arc shape) is displayed as the movement direction of theplatform 5 so as to overlap the model 410, and the second mark 413extending in an upper-lower direction in the screen image is displayedas the movement direction of the joystick 45 at a right side of themodel 410.

As described above, in the manipulation screen image 400 in which anyone of the operating mode is being selected, the model 410 of thesurgical robot 1 corresponding to the operating mode is displayed.Moreover, the first mark 411 is displayed as the movement direction ofthe platform 5 in the model 410, and the second mark 413 is displayed asthe manipulation direction of the joystick 45 which moves the platform5. The model 410 of the surgical robot 1 is displayed such that thefirst mark 411 indicating the movement direction of the platform 5 andthe second mark 413 indicating the manipulation direction of thejoystick 45 become practically the same in direction as each other inthe manipulation screen image 400.

The movement direction of the platform 5 is displayed by the first mark411 together with the model 410. Therefore, in the operating mode whichis being currently selected, the user 0 can intuitively recognize adirection in which the platform 5 should be moved. Moreover, by thesecond mark 413 indicating the manipulation direction of the joystick45, the user 0 can intuitively recognize a direction in which thejoystick 45 should be manipulated. Then, the movement direction of theplatform 5 and the manipulation direction of the joystick 45 are thesame as each other or similar to each other in the manipulation screenimage 400. Therefore, by visually confirming the manipulation screenimage 400, the user 0 can intuitively manipulate the joystick 45 toinput a command regarding the movement direction of the platform 5.

As described above, the surgical robot 1 according to the presentembodiment includes: a plurality of manipulator arms 3 includingrespective distal end portions to which the surgical instruments 4 areattached; the platform 5 to which proximal end portions of the pluralityof manipulator arms 3 are coupled; the positioner 7 including theplurality of links 91 to 96 and the joint driving devices D71 to D77,the plurality of links 91 to 96 being provided in series through thejoints J71 to J77, the joint driving devices D71 to D77 being providedat the respective joints J71 to J77, the positioner 7 supporting theplatform 5 and being configured to change the position and posture ofthe platform 5; the controller 600 configured to operate the positioner7 such that the position and posture of the platform 5 correspond to acommanded position and posture; and the manipulation input device 48(user interface) configured to receive the input of the manipulationregarding the positioner 7.

The manipulation input device 48 includes: the mode selection buttons401 to 405 (first manipulation tools) each configured to receive theinput of the manipulation which selects one of a plurality of operatingmodes for changing the position and posture of the platform 5; and thesingle joystick 45 (second manipulation tool) configured to receive theinput of the manipulation information regarding the position andposture. The controller 600 generates a command regarding the positionand posture of the platform 5 based on the manipulation informationreceived by the joystick 45 and the selected operating mode and operatesthe positioner 7 based on the generated command.

A method of manipulating the positioner 7 according to the presentembodiment is a method of manipulating the positioner 7 in the surgicalrobot 1 including: the plurality of manipulator arms 3 includingrespective distal end portions to which the surgical instruments 4 areattached; the platform 5 to which proximal end portions of the pluralityof manipulator arms 3 are coupled; the positioner 7 including theplurality of links 91 to 96 and the joint driving devices D71 to D77,the plurality of links 91 to 96 being provided in series through thejoints J71 to J77, the joint driving devices D71 to D77 being providedat the respective joints J71 to J77, the positioner 7 supporting theplatform 5 and being configured to change the position and posture ofthe platform 5; and the controller 600 configured to operate thepositioner 7 such that the position and posture of the platform 5correspond to a commanded position and posture. The method includes:acquiring a selected one of a plurality of operating modes which areinput from the mode selection buttons 401 to 405 (first manipulationtools) to change the position and posture of the platform 5; acquiringmanipulation information regarding the position and posture of theplatform 5, the manipulation information being input from the joystick45 (second manipulation tool); generating a command regarding theposition and posture of the platform 5 based on the acquiredmanipulation information and the selected operating mode; and operatingthe positioner 7 based on the generated command.

According to the surgical robot 1 and the method of manipulating thepositioner 7, the manipulation information regarding the position andposture is input by the single joystick 45 regardless of the operatingmode. To be specific, a manipulation tool for the height movement of theplatform 5 and a manipulation tool for the horizontal movement of theplatform 5 are not being used. Therefore, the number of manipulationtools provided at the manipulation input device 48 can be reduced.Moreover, wrong manipulation, such as confusion of the manipulationtools, can be prevented, and the manipulation can be simplified. Asabove, according to the present invention, the manipulation of the user0 can be made easier as a whole than when the conventional userinterface is used.

Moreover, in the surgical robot 1 according to the present embodiment,the manipulation input device 48 (user interface) further includes thetrigger switch 44 (third manipulation tool), and the controller 600acquires the manipulation information, input through the joystick 45(second manipulation tool), only while the trigger switch 44 is beingmanipulated (i.e., only while the trigger switch 44 is in the on state).

Similarly, in the method of manipulating the positioner 7 according tothe present embodiment, the input manipulation information is acquiredonly while the trigger switch 44 (third manipulation tool) is beingmanipulated (i.e., only while the trigger switch 44 is in the on state).

As above, since the input of the manipulation of the joystick 45 isactivated only while the trigger switch 44 is being manipulated, theinput of the wrong manipulation can be prevented, and the safety can beimproved.

Moreover, in the surgical robot 1 according to the present embodiment,the user interface includes the display 41. The manipulation inputdevice 48 (user interface) displays a plurality of operating modes onthe display 41 such that the plurality of operating modes areselectable. Or, the manipulation input device 48 (user interface) makesthe display 41 present a plurality of operating modes such that aselected one of the operating modes is discriminated from the otheroperating modes.

The display 41 may be a touch panel display, and the first manipulationtools may be the mode selection buttons 401 to 405 corresponding to theplurality of operating modes displayed on the touch panel display.

Similarly, the method of manipulating the positioner 7 according to thepresent embodiment further includes displaying the manipulation screenimage 400 corresponding to the selected operating mode on the display41.

According to the surgical robot 1 and the method of manipulating thepositioner 7, the selection of the operating mode of the platform 5 isinput by manipulating the mode selection buttons 401 to 405, and themanipulation screen image 400 corresponding to the selected operatingmode is displayed on the display 41. With this, the user 0 canimmediately recognize the operating mode (i.e., the movement directionof the platform 5 by the manipulation of the joystick 45) of theplatform 5, and the wrong manipulation, such as the input of themanipulation in an unintended direction, can be suppressed.

Moreover, according to the surgical robot 1 and the method ofmanipulating the positioner 7, the manipulation screen image 400displayed on the display 41 includes: the model 410 including thepositioner 7 and at least one of the platform 5 and the plurality ofmanipulator arms; the first mark 411 indicating the movement directionof the platform 5 in the model 410; and the second mark 413 indicatingthe manipulation direction of the joystick 45 (second manipulationtool). It is desirable that a direction indicated by the first mark 411and a direction indicated by the second mark 413 be parallel to eachother in the manipulation screen image 400.

With this, the user 0 can intuitively recognize the movement directionof the platform 5 and the manipulation direction of the joystick 45 bylooking at the manipulation screen image 400. Then, since the first mark411 and the second mark 413 correspond to each other in the manipulationscreen image 400, mistakes of the manipulation of the joystick 45 can beprevented.

Moreover, the surgical robot 1 according to the present embodimentfurther includes the cart 70 supporting the positioner 7, and themanipulation input device 48 (user interface) is provided at the cart70.

The positioner 7 moves the platform 5 relative to the cart 70. Asdescribed above, the manipulation input device 48 is provided at thecart 70. Therefore, when moving the platform 5 by manipulating thepositioner 7 by using the manipulation input device 48, the user 0 whomanipulates the manipulation input device 48 can intuitively manipulatethe manipulation tools on the manipulation input device 48.

The foregoing has described a preferred embodiment of the presentinvention. Specific structures and/or functional details of the aboveembodiment may be modified within the scope of the present invention.The configuration of the surgical robot 1 may be modified as below.

For example, in the above embodiment, the first manipulation tools forselecting the operating modes are the mode selection buttons 401 to 405displayed on the touch panel display 41. However, the first manipulationtools are not limited to these. Each of the mode selection buttons 401to 405 may be constituted by a physical manipulation tool (such as abutton switch, a pin switch, or a lever). Moreover, the mode selectionbuttons 401 to 405 may be displayed on a display other than the touchpanel display, and the operating mode may be selected by selecting thebutton with the first manipulation tool, such as a mouse or a touchpad.

Moreover, for example, in the above embodiment, instead of the joystick45, a manipulation tool (such as a track ball or a cross key) by whichthe manipulation information regarding the manipulation amount andmovement direction of the position and posture can be input may beadopted.

What is claimed is:
 1. A surgical robot system comprising: a surgicalrobot that comprises: a plurality of manipulator arms includingrespective distal end portions to which surgical instruments areattached; a platform to which proximal end portions of the plurality ofmanipulator arms are coupled; a positioner including a plurality oflinks, joints and joint driving devices, the plurality of links beingprovided in series through the joints, the joint driving devices beingprovided at the respective joints, the positioner supporting theplatform and being configured to change a position and posture of theplatform; and a user interface configured to receive an input ofmanipulation regarding the positioner; and a controller configured tocontrol the positioner such that the position and posture of theplatform correspond to a commanded position and posture based on thereceived input by the user interface, wherein: the user interfacecomprises: a touch panel display configured to display a plurality ofmode selection buttons, and receive an input of manipulation whichselects one of the plurality of mode selection buttons corresponding toone of a plurality of operating modes for changing the position andposture of the platform; and a single manipulation tool configured toreceive an input of manipulation information regarding the position andposture; the touch panel displays a model of the single manipulationtool indicating a manipulation direction corresponding to the one of theplurality of operating modes corresponding to the selected modeselection button; and the controller generates a command regarding theposition and posture of the platform based on the manipulationinformation received by the single manipulation tool and the selectedoperating mode and controls the positioner based on the generatedcommand.
 2. The surgical robot system according to claim 1, wherein: theuser interface further comprises a trigger switch; and the controlleracquires the manipulation information only while the trigger switch isbeing manipulated.
 3. The surgical robot system according to claim 1,wherein: the touch panel display displays the plurality of operatingmodes such that the plurality of operating modes are selectable.
 4. Thesurgical robot system according to claim 1, wherein: the singlemanipulation tool is a single joystick.
 5. The surgical robot systemaccording to claim 1, wherein: the touch panel display displays modeselection buttons corresponding to the plurality of operating modes. 6.The surgical robot system according to claim 1, wherein: the touch paneldisplay displays a manipulation screen image corresponding to theselected operating mode; and the manipulation screen image comprises amodel including the positioner and at least one of the platform and theplurality of manipulator arms, a first mark indicating a movementdirection of the platform in the model, and a second mark indicating amanipulation direction of the single manipulation tool.
 7. The surgicalrobot system according to claim 1, wherein the surgical robot furthercomprises a cart supporting the positioner, and the user interface isprovided at the cart.
 8. The surgical robot system according to claim 1,wherein: the manipulator arms comprise a first manipulator arm to whichan endoscope is attached, a second manipulator arm to which a firstsurgical instrument is attached and a third manipulator arm to which asecond surgical instrument is attached.
 9. The surgical robot systemaccording to claim 8, further comprising: a console that comprises: asurgeon-side manipulator arm configured to operate the manipulator arms;and a monitor configured to display an image of the endoscope.
 10. Asurgical robot comprising: a plurality of manipulator arms comprisingrespective distal end portions to which surgical instruments areattached; a platform to which proximal end portions of the plurality ofmanipulator arms are coupled; a positioner including a plurality oflinks, joints and joint driving devices, the plurality of links beingprovided in series through the joints, the joint driving devices beingprovided at the respective joints, the positioner supporting theplatform and being configured to change a position and posture of theplatform; and a user interface configured to receive an input ofmanipulation regarding the positioner, wherein: the user interfacecomprises: a touch panel display configured to display a plurality ofmode selection buttons, and receive an input of manipulation whichselects one of the plurality of mode selection buttons corresponding toone of a plurality of operating modes for changing the position andposture of the platform; and a single manipulation tool configured toreceive an input of manipulation information regarding the position andposture; the touch panel displays a model of the single manipulationtool indicating a manipulation direction corresponding to the one of theplurality of operating modes corresponding to the selected modeselection button; and the positioner moves the platform based on theselected operating mode and the manipulation information received by thesingle manipulation tool.
 11. The surgical robot according to claim 10,wherein: the user interface further includes a trigger switch; and thepositioner moves the platform based on the manipulation informationreceived by the single manipulation tool only while the trigger switchis being manipulated.
 12. The surgical robot according to claim 10,wherein: the touch panel display displays the plurality of operatingmodes such that the plurality of operating modes are selectable.
 13. Thesurgical robot according to claim 10, wherein: the single manipulationtool is a single joystick.
 14. The surgical robot according to claim 10,wherein: the touch panel display displays mode selection buttonscorresponding to the plurality of operating modes.
 15. The surgicalrobot according to claim 10, wherein: the touch panel display displays amanipulation screen image corresponding to the selected operating mode;and the manipulation screen image comprises a model including thepositioner and at least one of the platform and the plurality ofmanipulator arms, a first mark indicating a movement direction of theplatform in the model, and a second mark indicating a manipulationdirection of the single manipulation tool.
 16. A method of manipulatinga positioner in a surgical robot system, the surgical robot systemcomprising: a surgical robot that comprises: a plurality of manipulatorarms including respective distal end portions to which surgicalinstruments are attached; a platform to which proximal end portions ofthe plurality of manipulator arms are coupled; a positioner including aplurality of links, joints and joint driving devices, the plurality oflinks being provided in series through the joints, the joint drivingdevices being provided at the respective joints, the positionersupporting the platform and being configured to change a position andposture of the platform; and a user interface configured to receive aninput of manipulation regarding the positioner and including a touchpanel display and a single manipulation tool the touch panel displayconfigured to display a plurality of mode selection buttons, thereceived input of manipulation selecting one of the plurality of modeselection buttons corresponding to one of a plurality of operating modesfor changing the position and posture of the platform, the touch paneldisplay configured to displays a model of the single manipulation toolindicating a manipulation direction corresponding to the one of theplurality of operating modes corresponding to the selected modeselection button; and a controller configured to control the positionersuch that the position and posture of the platform correspond to acommanded position and posture based on the received input by the userinterface, the method comprising: acquiring the selected one of theplurality of operating modes which are input from the touch paneldisplay; acquiring manipulation information regarding the position andposture of the platform, the manipulation information being input fromthe single manipulation tool; generating a command regarding theposition and posture of the platform based on the acquired manipulationinformation and the selected operating mode; and controlling thepositioner based on the generated command.
 17. The method according toclaim 16, wherein the manipulation information is acquired only while atrigger switch is being manipulated.
 18. The method according to claim16, further comprising displaying a manipulation screen imagecorresponding to the selected operating mode on the touch panel display.19. The method according to claim 18, wherein the manipulation screenimage includes: a model including the positioner and at least one of theplatform and the plurality of manipulator arms; a first mark indicatinga movement direction of the platform in the model; and a second markindicating a manipulation direction of the single manipulation tool. 20.The method according to claim 16, wherein: the touch panel displaydisplays mode selection buttons corresponding to the plurality ofoperating modes.